[ros-users] cvBridge + opencv memory leak problem

[Gary Bradski]

I'm at home not on a computer with code, but I believe you can use Mat in
the old cv functions as follows

Mat planes = ... from bridge or wherever. (whereever an IplImage is
produced, you can just assign it to a Mat).
. . .
IplImage cv_planes_0 = planes;

Then use IplImage as normal in the old cv functions.  The memory will do the
right thing.


On Sat, May 22, 2010 at 5:20 PM, Patrick Mihelich <mihelich at willowgarage.com
> wrote:

> In your example, im_left is owned by left_bridge and should not be
> released. However any images you create yourself do need to be released. The
> memory leak is from not releasing "test".
>
> The original OpenCV C API<http://opencv.willowgarage.com/documentation/c/index.html>works with IplImage's. The new C++
> API <http://opencv.willowgarage.com/documentation/cpp/index.html> cv::Mat
> is easier to use and avoids having to release memory manually.
>
> cv_bridge only uses IplImage because it predates the OpenCV C++ API. The
> next revision of cv_bridge will likely use cv::Mat, precisely to avoid this
> sort of confusion.
>
> Patrick
>
>
> On Sat, May 22, 2010 at 4:54 PM, chriss lei <lei.chriss at gmail.com> wrote:
>
>>
>> Hello Radu,
>>
>> I'm well aware of using cvReleaseImage..
>> Memory leak happens even if I use a single function on IplImage converted
>> from sensor_msgs.
>> Here's my callback function to illustrate. Usage of cvCopy here introduces
>> memory blowup problem.
>>
>> void callback(const sensor_msgs::CameraInfo::ConstPtr& info,
>>                            const sensor_msgs::ImageConstPtr& left,
>>                            const stereo_msgs::DisparityImageConstPtr&
>> disparity_msg)
>>        {
>>
>>                im_left = left_bridge.imgMsgToCv(left, "passthrough");
>>
>>                disp_bridge.fromImage(disparity_msg->image, "passthrough");
>>                dispImg = disp_bridge.toIpl();
>>
>>                cvShowImage("left", im_left);
>>
>>                IplImage* test = NULL;
>>                test = cvCreateImage(cvGetSize(dispImg), dispImg->depth,
>> 1);
>>                cvCopy(dispImg, test);
>>                cvShowImage("disp", test);
>>       }
>>
>> Also, I'm not supposed to deallocate any IplImages that are converted from
>> sensor_msgs as described in cvBridge tutorial.
>> Is there a way to use opencv functions on IplImages and not use cv::Mat ?
>>
>> --
>> View this message in context:
>> http://ros-users.122217.n3.nabble.com/cvBridge-opencv-memory-leak-problem-tp837144p837162.html
>> Sent from the ROS-Users mailing list archive at Nabble.com.
>>
>>
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